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考虑车辆横向主动安全的智能驾驶员模型

隋振 梁硕 田彦涛

隋振,  梁硕,  田彦涛.  考虑车辆横向主动安全的智能驾驶员模型.  自动化学报,  2021,  47(8): 1899−1911 doi: 10.16383/j.aas.c190526
引用本文: 隋振,  梁硕,  田彦涛.  考虑车辆横向主动安全的智能驾驶员模型.  自动化学报,  2021,  47(8): 1899−1911 doi: 10.16383/j.aas.c190526
Sui Zhen,  Liang Shuo,  Tian Yan-Tao.  Intelligent driving model considering lateral active safety of vehicles.  Acta Automatica Sinica,  2021,  47(8): 1899−1911 doi: 10.16383/j.aas.c190526
Citation: Sui Zhen,  Liang Shuo,  Tian Yan-Tao.  Intelligent driving model considering lateral active safety of vehicles.  Acta Automatica Sinica,  2021,  47(8): 1899−1911 doi: 10.16383/j.aas.c190526

考虑车辆横向主动安全的智能驾驶员模型

doi: 10.16383/j.aas.c190526
基金项目: 国家自然科学基金联合基金 (U1664263), 国家重点研发计划项目(2016YFB0101102)资助
详细信息
    作者简介:

    隋振:吉林大学通信工程学院副教授, 博士. 主要研究方向为复杂系统建模优化与控制. 本文通信作者. E-mail: suizhen@jlu.edu.cn

    梁硕:2019年获得吉林大学通信工程学院硕士学位. 主要研究方向为电动汽车主动安全系统与智能辅助驾驶. E-mail: liangshuo0501@163.com

    田彦涛:吉林大学通信工程学院教授. 1993年吉林工业大学获得博士学位. 主要研究方向为复杂系统建模, 优化与控制, 电动汽车主动安全系统与智能辅助驾驶. E-mail: tianyt@jlu.edu.cn

Intelligent Driving Model Considering Lateral Active Safety of Vehicles

Funds: Supported by National Natural Science Foundation Joint Fund Program of China (U1664263), National Key Research and Development Program of China (2016YFB0101102)
More Information
    Author Bio:

    SUI Zhen  Ph.D., associate professor at the School of Communication Engineering, Jilin University. His research interest covers complex system modeling optimization and control. Corresponding author of this paper

    LIANG Shuo Received his master degree from Jilin University in 2019. His research interest covers electric vehicle active safety system and intelligent assisted driving

    TIAN Yan-Tao Professor at the School of Communication Engineering, Jilin University. He received his Ph.D. degree from Jilin University of Technology in 1993. His research interest covers modeling and optimized control of complex systems, active safety systems of the electric vehicles, and advanced driver assistance systems

  • 摘要:

    结合智能车面临的横向安全问题, 设计了一种具有横向安全性的智能驾驶员模型. 该系统由转向控制、速度控制和决策规划三个模块组成. 该系统的主要作用包括: 一是通过在转向控制中加入主要约束提高车辆在转向过程中的横向稳定性, 减小车辆发生侧滑、侧倾、侧偏等风险; 二是在换道场景下, 决策规划单元合理分析交通环境中的车间距并计算出驶入临近车道的速度和轨迹, 使智能车实现安全换道. CarSim/Simulink仿真结果表明, 该智能驾驶员系统提高了车辆行驶的横向安全性.

  • 图  1  驾驶员模型结构

    Fig.  1  The structure of the driver model

    图  2  简化3自由度车辆动力学模型

    Fig.  2  The model of the vehicle of 3DOF

    图  3  车辆侧倾动力学模型

    Fig.  3  The roll dynamic model of the vehicle

    图  4  换道前车辆分布情况

    Fig.  4  Distribution of the vehicles before lane change

    图  5  换道后车辆分布情况

    Fig.  5  Distribution of the vehicles after lane change

    图  6  轨迹规划原理

    Fig.  6  The principle of trajectory planing

    图  7  工况1条件下车辆行驶状态

    Fig.  7  The states of the vehicle on work Condition 1

    图  8  工况2条件下车辆行驶状态

    Fig.  8  The states of the vehicle on work Condition 2

    图  9  工况3条件下车辆行驶状态

    Fig.  9  The states of the vehicle on work Condition 3

    图  10  安全车距定义

    Fig.  10  The definition of the vehicles safety distance

    图  11  工况1换道轨迹

    Fig.  11  The trajectory of the vehicle on work Condition 1

    图  15  工况1智能车与目标车道后车间距

    Fig.  15  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 1

    图  12  工况1速度控制

    Fig.  12  The velocity of the vehicle on work Condition 1

    图  13  工况1智能车与原车道前车间距

    Fig.  13  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 1

    图  14  工况1智能车与目标车道前车间距

    Fig.  14  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 1

    图  16  工况2换道轨迹

    Fig.  16  The trajectory of the vehicle on work Condition 2

    图  20  工况2智能车与目标车道后车间距

    Fig.  20  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 2

    图  17  工况2速度控制

    Fig.  17  The velocity of the vehicle on work Condition 2

    图  18  工况2智能车与原车道前车间距

    Fig.  18  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 2

    图  19  工况2智能车与目标车道前车间距

    Fig.  19  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 2

    图  21  工况3换道轨迹

    Fig.  21  The Trajectory of the vehicle on work Condition 3

    图  25  工况3智能车与目标车道后车间距

    Fig.  25  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 3

    图  22  工况3速度控制

    Fig.  22  The velocity of the vehicle on work Condition 3

    图  23  工况3智能车与原车道前车间距

    Fig.  23  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 3

    图  24  工况3智能车与目标车道前车间距

    Fig.  24  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 3

    表  1  智能驾驶员系统参数设置

    Table  1  The definition of the intelligent driver system

    实验车M Car A Car B Car C
    最小安全间距${d_o}({\rm{m}})$ $ {d_o}(3) $ $ {d_o}(2) $ ${d_o}(1)$
    加速度幅度$({\rm{m/{s}}^2})$ 1.8 2.2 2.5
    加速度增量$({\rm{m/{s}}^2})$ 0.09 0.11 0.12
    反应时间$({\rm{s}})$ 0.4 0.7 0.9
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-07-14
  • 录用日期:  2019-11-15
  • 网络出版日期:  2021-06-28
  • 刊出日期:  2021-08-20

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